Reduce your amount of rest between sets
A typically recovery time in between sets is 30 to 90 seconds, but if your goal is greater endurance, be prepared to sacrifice break time. By the end of your sets, your muscles should be burning—you should be breathing heavily and sweating. Only take a break if you physically can not continue. Try 10 pull-ups, 10 squats, 10 push-ups, 30 Second Plank. Do three rounds of the series back to back, taking as minimal a break as possible.